EP3568267A1 - Robot unit having separate actuators and a common counter actuator device for multiple members - Google Patents
Robot unit having separate actuators and a common counter actuator device for multiple membersInfo
- Publication number
- EP3568267A1 EP3568267A1 EP18707262.4A EP18707262A EP3568267A1 EP 3568267 A1 EP3568267 A1 EP 3568267A1 EP 18707262 A EP18707262 A EP 18707262A EP 3568267 A1 EP3568267 A1 EP 3568267A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot unit
- members
- base
- gegenaktoreinrichtung
- actuators
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 108090000623 proteins and genes Proteins 0.000 claims 1
- 210000003811 finger Anatomy 0.000 description 50
- 238000011161 development Methods 0.000 description 12
- 230000018109 developmental process Effects 0.000 description 12
- 230000013011 mating Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 235000010678 Paulownia tomentosa Nutrition 0.000 description 1
- 240000002834 Paulownia tomentosa Species 0.000 description 1
- 239000005557 antagonist Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Definitions
- Robot unit with separate actuators and common counteractor device for several members
- the invention relates to a robot unit for a techni cal ⁇ apparatus with two pivotable members which a degree of freedom in a direction with respect to each movable by means of a separate actuator.
- the invention also relates to a technical apparatus with such a robot unit.
- Robotic units in the handling of workpieces require the frequently actuated robot units, in particular robotic hands, today widespread.
- a drive of moving elements of the robot unit in the manner of a cable ⁇ train is particularly advantageous.
- Characterized in that the actuators are not arranged directly on the moving parts, is a particularly compact construction of the moving parts, which are formed into ⁇ particular as members, are possible.
- a knee prosthesis with two drive units, which are arranged on a knee joint via a spring, is known, for example, from US 2010/031 23 63.
- a robot unit with many moving parts, in particular many links many drive units can be used. necessary to move all members independently in each direction. This is also called complete actuation.
- 48 drive units, in particular 24 actuators and 24 counteractors may be necessary to enable complete actuation of all degrees of freedom of all the members.
- the prior art offers the possibility of replacing counteractors with passive elements, in particular elastic elements, for example rubbers or springs. In this case, only a single drive unit per degree of freedom is necessary. A movement against the individual drive unit can be made by stored in the passive element voltage energy.
- the remaining drive ⁇ unit in particular the actuator, however, must be designed more powerful in this case, since the remaining drive unit at the same time has to overcome a motive force to Be ⁇ movement of the member and a resistance of the passive ele ⁇ ment. Thus, a part of the driving force of the remaining drive unit in the passive element is lost.
- a robot unit for a technical apparatus has a base, via which the robot unit can be arranged on the technical apparatus.
- the robotic unit further includes a first member pivotally mounted to the base and a second member pivotally mounted to the base or first member.
- the first member and the second member are each movable by means of a separate actuator with respect to a degree of freedom in one direction.
- the first member is pivotable in one direction relative to the base by means of a first of the separate actuators.
- the second member by means of a second of the separate Ak ⁇ factors is pivotable relative to the base and or the first member.
- the first member and the second member can be moved by means of a single counteracting device only together with respect to the degree of freedom against the direction.
- the symbolsaktor shark comprises exactly one Ge ⁇ genaktor.
- the first member and the second member are independently movable with respect to the degree of freedom in the direction. Due to the single Schmidtaktor issued can the first
- the actuators and the Jacobikon can be considered as a drive unit for the members.
- the actuators and / or the Jacobaktor can be considered as a drive unit for the members.
- the actuators and / or the Jacobaktor can be an electric, pneumatic or hydraulic drive.
- the electric drive can be an electric motor, for example a rotary motor or a linear motor exhibit.
- the degree of freedom of the first member and the degree of freedom of the second member with respect to which the respective member of the respective actuator is movable may differ.
- the actuators are designed to move the first member and the second member according to the same degree of freedom in each case in the same direction.
- the respective actuators can DA to be formed, the first member and the second member be ⁇ to pivot schreib a predetermined spatial direction as the degree of freedom, wherein the spatial direction of the first member, in particular the spatial direction for the second member speaks ent ⁇ .
- the respective actuators are designed to pivot the first member and the second member in the same direction with respect to the spatial direction.
- the counteracting device can be designed to move the first member and the second member in the opposite direction, in particular with respect to the direction of the actuators, in accordance with the predetermined spatial direction.
- the direction with respect to the degree of freedom in which the first member and the second member are independently movable by the separate actuators is in particular aligned such that it corresponds to a direction in which a greater degree of agility is required in relation to the opposite direction
- the robot unit adjacent to the first member and the second member Minim ⁇ least comprises a further link, and that all members of the Gegenaktor responded are only movable together.
- the Counteractor means may comprise one or more counteractors.
- the number of mating actuators included by the mating actuator device is less than the number of actuators.
- the number of actuators can correspond to the number of links.
- the number of counteractors included by the counteracting device is, in particular, less than the number of links.
- a development of the invention provides that the actuators are designed to move the links in such a way that a diffraction angle between the first link and the base and between the second link and the first link or the base is reduced.
- the respective diffraction angles lie on the same side of the links or the robot unit.
- the respective lie lie on the same side of the links or the robot unit.
- Diffraction angle on the same side of a plane that is parallel to the base.
- Verrin ⁇ like of the diffraction angle between the first member and the base and between the second member and the first member or the base about a closing movement, preferably egg ⁇ ne gripping movement.
- cross bar ⁇ by reducing the diffraction angle an object by the robot unit.
- each member has a jeweili ⁇ gen actuator, wherein for each of the degrees of freedom in each case only a single Jacobiktor responded the respective jointly moving all the members is present.
- the counteracting means may comprise one or more counteractors. Preferably, the number of Schmidtaktoren, which by the counteractor means, less than the number of members.
- the robot unit is designed as a ro boterhand, wherein the robot unit includes a plurality of fingers, which are disposed on the base, each of said fingers includes a plurality of members of which the first member and the second member similar finger portions Kunststoffaji under ⁇ to train the finger.
- Members which form gleichar- term finger parts are arranged in particular on a sliding ⁇ che number of further elements to the base.
- the first member and the second member are directly pivotally mounted to the base.
- the first member and the second member via a respective further member on the base are arranged.
- the first member and the second member represent similar parts finger under ⁇ Kunststoffaji of the fingers.
- the robot unit has a plurality of, preferably four, similar fingers.
- the robot unit can have a further, in particular fifth, finger, which deviates from the other fingers.
- a robot unit that is formed as a robot hand ⁇ it may be particularly advantageous for the members to move with respect to the degree of freedom in the direction opposite by a single Jacobaktor interference. Insbesonde ⁇ re saving several counter actuators compared to the prior art is possible. Since the plurality of fingers preferably have a similar mobility in ⁇ play, a pivotability tung same spatial directions with respect to a loss of dexterity of the robot unit by dispensing with drive units compared to the prior art can be reduced.
- a further development provides that all members which respectively form similar finger parts of different fingers are individually movable by the counteracting device only together and by respective actuators.
- the members that have similar finger parts can form different fingers, with respect to the degree of freedom in the direction of separate actuators to be independently movable.
- the links, which each form similar finger parts of different fingers can only be moved jointly by the counteracting device.
- the members are individually movable with respect to the degree of freedom in the direction through the respective actuators in which a diffraction angle between members of the fingers with each other and / or with respect to the base is reduced.
- the fingers or the members of the fingers of the respective actuators are independently angled or movable in an angled position. This is also known in English as "reflection.”
- Links may be stretchable by the counteractor device or may be movable into an extended position. This is also referred to as "extension.”
- the robot unit is designed in such a way that the fingers or their members can be moved independently of one another by the respective actuators when gripped by the robot unit and / or when the robot hand is closed Finger or de ⁇ ren members when opening the robot hand only together by the Schmidtaktor issued movable.
- the Schmidtaktor has an arrangement of two coupled Jacobi ⁇ se.
- the coupled counteractors are connected by a connection, for example a rod.
- Cheswei ⁇ se are arranged a plurality of members which are movable by the Gegenaktor responded at different points of attachment of the connecting means. In this way, despite a single Schmidtaktor responded for the common movement of the fingers they can still be at least partially differently movable. In this way, the loss of agility due to the single Schmidtaktor responded can be particularly low.
- the actuator and the counteractor device are connected via respective connecting elements to the first member and the second member.
- the respective actuator and / or the Jacobaktorein- device are not arranged directly on the first member and / or the second member.
- the respective connecting elements Kgs ⁇ NEN be adapted to transmit a driving force of the actuator and the Jacobaktor learned to the first member and the second member.
- the spatial separation between members and check a particularly compact design of the Robo ⁇ territt and / or the finger can be given drive unit.
- the respective connecting elements are designed in the manner of a cable.
- the guys can be easily deflected about an axis, for example around steering rollers or edges.
- the cable allows a particularly simple and space-saving form of power transmission.
- a rope of the cable can transmit the drive ⁇ force only on train.
- the transmission of the driving force of the actuator and / or the Gegenaktor is only possible in one direction.
- each of the links can only be moved in one direction by means of the actuator and the counter-actuator device.
- each connecting element has an elastic element.
- connection ⁇ elements which are arranged on the Gegenaktor Anlagen may have the elastic member.
- the connecting elements of the Martinezaktor immunity can also be held under tension, if the respective Akto- move the first member and the second member in a different ⁇ Liche position.
- the actuators and the counter actuator means are adapted to move the limbs, in particular by means of a ⁇ sondere exclusively transmitted via the respective connecting members driving force.
- the links may, for example, comprise a joint via which they are arranged on another of the links or on the base. The driving force from the actuator or the
- the robot hand is modeled on the mobility and number of links of a human hand.
- the robot hand has four fingers aligned along the same spatial direction, each consisting of three links.
- the robot hand may have the further finger, which is aligned according to another spatial direction and example ⁇ includes two members.
- the fingers or the individual members may be movable in an angular range of 90 ° to 180 ° to an adjacent one of the members of the same finger.
- the limb of each finger which is located directly on the base, is in one
- a particularly intuitive control of the robot unit can be made possible because these leans against a BEWE ⁇ supply of a human hand.
- individual fingers of a human hand are usually not completely independently movable.
- FIG. 1 shows a robot unit 1 in a schematic ⁇ -Nazi front view.
- the robot unit 1 is designed as a robot hand ⁇ 8 and presently includes four fingers 4 which are a base pivotally arranged. 2
- Each of the fingers 4 herein includes three members 3.
- the robot unit 1 summarizes ⁇ to present in addition a fifth finger 9, which comprises two members. 3
- the robot unit 1 or the robot hand 8 is modeled in terms of mobility and number of members 3 of a human hand.
- each of the links 3 is pivotally mounted on the base 2 or another of the links 3.
- lower links 15 are pivotally mounted on the base 2.
- the lower members 15 are mounted on the base 2 via a hinge unit 14.
- the hinge units 14 are part of the lower members 15.
- a first member 10 may be pivotally mounted on the base 2.
- a second member 11 may be pivotally mounted on the base 2.
- Another second member 12 may be pivotally mounted on the first member 10.
- Upper links 16 are presently pivotally mounted on one of the links 3.
- the upper links 16 are each supported by further hinge units 13 on one of the lower links 15 or another of the upper links 16.
- Another second member 12 may be pivotally mounted on the first member 10.
- the members 3 may be movable by respective actuators 5 and Jacobo ⁇ ren. 7
- One or more of the Jacobaktoren 7 may form a Jacobaktor immunity 6.
- two of the mating actuators 7 are connected to the mating actuator device 6 via a connection 19, for example a rod or any desired component.
- the Jacobaktor pain 6 may alternatively comprise exactly one Gegenaktoren 7.
- the actuators 5 and the counteracting Toren 7 designed as electrical, pneumatic, piezohydraulischer or hydraulic drive.
- An electrical drive ⁇ can as an electric motor, for example as Rotationsmo ⁇ tor or as a linear motor, be executed.
- each of the members 3 is connected via a respective Ver ⁇ connecting element 22 to a respective actuator.
- each of the links 3 is connected via a connecting element 22 to one of the counteractors 7 or the counteracting device 6.
- Actuators 5, counteractors 7 and connecting elements 22 are shown in FIG for the sake of clarity ⁇ only for the lower members 15 and the joint units 14 of the lower members 15.
- the connecting elements 22 are each designed in the manner of a cable pull.
- Each of the connecting members 22 or ⁇ zelne the connecting members 22 may have a respective elas ⁇ table element 21st
- Each of the lower links 15 is movable in a direction 51 by a separate actuator 5 with respect to a first degree of freedom 50.
- each of the lower links 15 is movable in a direction 53 by a separate actuator 5 with respect to a second degree of freedom 52, in particular independently of other of the lower links 15.
- each of the lower links 15 is connected to two respective actuators 5, wherein each of the two actuators 5 enables the movement with respect to a respective degree of freedom 50, 52.
- each of the unte ⁇ ren members 15 is movable in the present case by means of a separate Jacobaktors 7 opposite to the direction 53rd
- the lower members 15 may be independently movable with respect to the second degree of freedom 52 in both the direction 53 and the direction 53.
- the lower members 15 are present in the present case with respect to the degree of freedom 50 against the direction 51 by means of the Schmidtaktor Anlagen 6 only jointly movable.
- the number of counteractors 7 is reduced.
- the fingers 4 are movable counter to the direction 51 by the counteracting device 6 according to the first degree of freedom 50 in such a way that the robot hand 8 performs an "extension.”
- an enlargement of the angle preferably on the inside, can take place for the opening movement the robot hand 8 may be provided between two adjacent ones of the links 3.
- an enlargement of the angle, preferably on the inside of the robot hand 8, between one of the lower links 15 and the base 2 may be provided for the opening movement
- the counter actor 6 comprises two counteractors 7, a different movement of the lower links 15 is made possible despite the sub-actuation.
- different movements of the fingers 4 are possible by a co-rotating and / or opposite mobility of the Schmidtak ⁇ gates 7, which are covered by the Schmidtaktor pain 6.
- the fingers 4 are movable in the direction 51 by the actuators 5 according to the first degree of freedom 50 in such a way that the robot hand 8 executes a "flection."
- a reduction of an angle preferably on an inner side of the robots, can occur for the gripping movement ⁇ hand 8 may be provided between two adjacent ones of the members.
- a reduced copy ⁇ tion of an angle preferably on the inside of the Robo ⁇ Terhand 8, between one of the bottom members 15 and the base be provided. 2 in the In the present case, the lower links 15 are individually and independently movable in each case by the separate actuators 5.
- the Verbin ⁇ -making elements 22 can be always held under tension.
- a tension of the connecting elements 22 is ensured even when a single one of the lower members 15 is moved. In this case, without the connecting elements 22, a loss of tension may occur which the counteracting device 6 can not freely follow the movement of the actuator 5.
- the robot hand 8 is modeled in terms of number and mobility of the fingers 4 of a human hand. Adjacent fingers of the human hand can not be fully ⁇ independently moved independently. Thus, despite the sub-actuation, the mobility of the robot hand 8 preferably differs only slightly from a mobility of the human hand.
- Those of the members 3, which are movable via a common Schmidtaktor Anlagen 6, can be regarded as a group, in particular as a synergistic group.
- Such groups may be arbitrarily formed under the members 3.
- the members of a group for each of the degrees of freedom 50, 52 a respective counter ⁇ actuator device 6.
- the members 3 of a group for several of the degrees of freedom 50, 52 only a common Jacobaktor worn 6 on.
- such groups may be formed for those of the links 3 which have similar mobility.
- exactly one counteractor device 6 for all the members 3 may be provided.
- members 3, each forming a similar finger part of the fingers 4 form a group.
- the un ⁇ direct links form of 15 a similar respective finger portion of the finger. 4
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017203237.5A DE102017203237A1 (en) | 2017-02-28 | 2017-02-28 | Robot unit with separate actuators and common counteractor device for multiple links |
PCT/EP2018/053166 WO2018158060A1 (en) | 2017-02-28 | 2018-02-08 | Robot unit having separate actuators and a common counter actuator device for multiple members |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3568267A1 true EP3568267A1 (en) | 2019-11-20 |
EP3568267B1 EP3568267B1 (en) | 2020-11-18 |
Family
ID=61283170
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18707262.4A Active EP3568267B1 (en) | 2017-02-28 | 2018-02-08 | Robot unit having separate actuators and a common counter actuator device for multiple members |
Country Status (5)
Country | Link |
---|---|
US (1) | US11850731B2 (en) |
EP (1) | EP3568267B1 (en) |
CN (1) | CN110366477B (en) |
DE (1) | DE102017203237A1 (en) |
WO (1) | WO2018158060A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017203237A1 (en) | 2017-02-28 | 2018-08-30 | Siemens Aktiengesellschaft | Robot unit with separate actuators and common counteractor device for multiple links |
CN115890717B (en) * | 2023-01-09 | 2023-05-23 | 浙江京烁科技有限公司 | Mechanical arm |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE447312C (en) | 1924-07-25 | 1927-07-21 | Livingston Artificial Limb Com | Artificial hand with flexible fingers and thumb |
US5762390A (en) | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
DE19755465A1 (en) | 1997-12-03 | 1999-06-17 | Alexander Dechert | Cable operated artificial hand |
JP2005271183A (en) * | 2004-03-26 | 2005-10-06 | Sharp Corp | Articulated drive device |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
JP4818016B2 (en) | 2006-07-31 | 2011-11-16 | スキューズ株式会社 | Hand device and driving method of hand device |
CN101622107B (en) * | 2006-10-13 | 2012-09-19 | 机扑工程技术利得股份有限公司 | Worm-like mechanism |
US8052185B2 (en) * | 2009-04-09 | 2011-11-08 | Disney Enterprises, Inc. | Robot hand with humanoid fingers |
US8483880B2 (en) * | 2009-07-22 | 2013-07-09 | The Shadow Robot Company Limited | Robotic hand |
US9016744B2 (en) * | 2010-05-20 | 2015-04-28 | Ohio University | Mechanical capstan amplifier |
CN101919755B (en) | 2010-07-25 | 2012-06-27 | 山东科技大学 | Joint traction type humanoid robot hand |
FR2983764A1 (en) * | 2011-12-13 | 2013-06-14 | Commissariat Energie Atomique | ARTICULATED MECHANICAL ASSEMBLY AND MECHANICAL HAND COMPRISING SUCH AN ASSEMBLY |
GB2519993B (en) | 2013-11-04 | 2017-05-10 | The Shadow Robot Company Ltd | Robotic hand |
FR3020775B1 (en) * | 2014-05-07 | 2019-04-19 | Aldebaran Robotics | ACTUATION OF A HAND INTENDED TO EQUIP A HUMANOID ROBOT |
CN105583838A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Fluid type contact grabbing linkage self-adaptive robot finger device |
DE102017203237A1 (en) | 2017-02-28 | 2018-08-30 | Siemens Aktiengesellschaft | Robot unit with separate actuators and common counteractor device for multiple links |
-
2017
- 2017-02-28 DE DE102017203237.5A patent/DE102017203237A1/en not_active Withdrawn
-
2018
- 2018-02-08 WO PCT/EP2018/053166 patent/WO2018158060A1/en unknown
- 2018-02-08 US US16/489,116 patent/US11850731B2/en active Active
- 2018-02-08 CN CN201880014607.1A patent/CN110366477B/en active Active
- 2018-02-08 EP EP18707262.4A patent/EP3568267B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20190389079A1 (en) | 2019-12-26 |
WO2018158060A1 (en) | 2018-09-07 |
CN110366477A (en) | 2019-10-22 |
US11850731B2 (en) | 2023-12-26 |
CN110366477B (en) | 2023-06-16 |
EP3568267B1 (en) | 2020-11-18 |
DE102017203237A1 (en) | 2018-08-30 |
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